Robotics Commons^™

A Modular Framework For Surface-Embedded Actuation And Optical Sensing In Soft Robots., Paul Bupe Jr

Electronic Theses and Dissertations

This dissertation explores the development and integration of modular technologies in soft robotics, with a focus on the OptiGap sensor system. OptiGap serves as a simple, flexible, cost-effective solution for real-time sensing of bending and deformation, validated through simulation and experimentation. Working as part of an emerging category of soft robotics called Soft, Curved, Reconfigurable, Anisotropic Mechanisms, or SCRAMs, this research also introduces the Thermally-Activated SCRAM Limb (TASL) technology, which employs shape-memory alloy (SMA) wire embedded in curved sheets for surface actuation and served as the initial inspiration for OptiGap. In addition, the EneGate system is presented as a complementary …

An Enhanced Adaptive Learning System Based On Microservice Architecture, Abdelsalam Helmy Ibrahim, Mohamed Eliemy, Aliaa Abdelhalim Youssif

Future Computing and Informatics Journal

This study aims to enhance Adaptive Learning Systems (ALS) in Petroleum Sector in Egypt by using the Microservice Architecture and measure the impact of enhancing ALS by participating ALS users through a statistical study and questionnaire directed to them if they accept to apply the Cloud Computing Service “Microservices” to enhance the ALS performance, quality and cost value or not. The study also aims to confirm that there is a statistically significant relationship between ALS and Cloud Computing Service “Microservices” and prove the impact of enhancing the ALS by using Microservices in the cloud in Adaptive Learning in the Egyptian …

Visual Question Answering: A Survey, Gehad Assem El-Naggar

Future Computing and Informatics Journal

Visual Question Answering (VQA) has been an emerging field in computer vision and natural language processing that aims to enable machines to understand the content of images and answer natural language questions about them. Recently, there has been increasing interest in integrating Semantic Web technologies into VQA systems to enhance their performance and scalability. In this context, knowledge graphs, which represent structured knowledge in the form of entities and their relationships, have shown great potential in providing rich semantic information for VQA. This paper provides an abstract overview of the state-of-the-art research on VQA using Semantic Web technologies, including knowledge …

Using An Embedded System For A Quality Cup Of Coffee, Evan Powers, Joshua Stermer, Tsion Yohannes

2023 Symposium

Many coffee lovers spend up to $5 on a cup of coffee everyday. To save money one could make them at home, but a quality machine with PIDs start at $1000. Using an embedded system one could spend less than $50 and a few hours implement PIDs into an existing $400 machine that will last a lifetime. microcontroller. Learning C language combined with hardware implementation applied to cheap and simple everyday objects can improve everyday quality of life and save money.

This is challenging because we have to incorporate the additional circuitry into a pre established circuit with limited space, …

Power Amplifier Based On Composite Injection-Voltaic Transistors, Nodira Batirdjanovna Alimova

Chemical Technology, Control and Management

The problem of high-current radio engineering devices is related to the fact that the use of high-power transistors and other semiconductor devices is limited by such a phenomenon as a secondary breakdown, in which there is a sharp decrease in the voltage on the device with simultaneous internal current lacing, and the device fails. To solve the problem of secondary breakdown, schemes have been proposed that operate stably at reverse voltage values 4-5 times higher than usual and at power dissipation 2-3 times higher than the maximum allowable power for an individual device. The problem is proposed to be solved …

Chatgpt As Metamorphosis Designer For The Future Of Artificial Intelligence (Ai): A Conceptual Investigation, Amarjit Kumar Singh (Library Assistant), Dr. Pankaj Mathur (Deputy Librarian)

Library Philosophy and Practice (e-journal)

Abstract

Purpose: The purpose of this research paper is to explore ChatGPT’s potential as an innovative designer tool for the future development of artificial intelligence. Specifically, this conceptual investigation aims to analyze ChatGPT’s capabilities as a tool for designing and developing near about human intelligent systems for futuristic used and developed in the field of Artificial Intelligence (AI). Also with the helps of this paper, researchers are analyzed the strengths and weaknesses of ChatGPT as a tool, and identify possible areas for improvement in its development and implementation. This investigation focused on the various features and functions of ChatGPT that …

Parallel Real Time Rrt*: An Rrt* Based Path Planning Process, David Yackzan

Theses and Dissertations--Mechanical Engineering

This thesis presents a new parallelized real-time path planning process. This process is an extension of the Real-Time Rapidly Exploring Random Trees* (RT-RRT*) algorithm developed by Naderi et al in 2015 [1]. The RT-RRT* algorithm was demonstrated on a simulated two-dimensional dynamic environment while finding paths to a varying target state. We demonstrate that the original algorithm is incapable of running at a sufficient rate for control of a 7-degree-of-freedom (7-DoF) robotic arm while maintaining a path planning tree in 7 dimensions. This limitation is due to the complexity of maintaining a tree in a high-dimensional space and the network …

A Path Planning Framework For Multi-Agent Robotic Systems Based On Multivariate Skew-Normal Distributions, Peter Estephan

Theses, Dissertations and Capstones

This thesis presents a path planning framework for a very-large-scale robotic (VLSR) system in an known obstacle environment, where the time-varying distributions of agents are applied to represent the multi-agent robotic system (MARS). A novel family of the multivariate skew-normal (MVSN) distributions is proposed based on the Bernoulli random field (BRF) referred to as the Bernoulli-random-field based skew-normal (BRF-SN) distribution. The proposed distributions are applied to model the agents’ distributions in an obstacle-deployed environment, where the obstacle effect is represented by a skew function and separated from the no-obstacle agents’ distributions. First, the obstacle layout is represented by a Hilbert …

Device Free Indoor Localization Of Human Target Using Wifi Fingerprinting, Prasanga Neupane

LSU Master's Theses

Indoor localization of human objects has many important applications nowadays. Proposed here is a new device free approach where all the transceiver devices are fixed in an indoor environment so that the human target doesn't need to carry any transceiver device with them. This work proposes radio-frequency fingerprinting for the localization of human targets which makes this even more convenient as radio-frequency wireless signals can be easily acquired using an existing wireless network in an indoor environment. This work explores different avenues for optimal and effective placement of transmitter devices for better localization. In this work, an experimental environment is …

Reduced Fuel Emissions Through Connected Vehicles And Truck Platooning, Paul D. Brummitt

Electronic Theses and Dissertations

Vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication enable the sharing, in real time, of vehicular locations and speeds with other vehicles, traffic signals, and traffic control centers. This shared information can help traffic to better traverse intersections, road segments, and congested neighborhoods, thereby reducing travel times, increasing driver safety, generating data for traffic planning, and reducing vehicular pollution. This study, which focuses on vehicular pollution, used an analysis of data from NREL, BTS, and the EPA to determine that the widespread use of V2V-based truck platooning—the convoying of trucks in close proximity to one another so as to reduce air drag …

Credit Card Fraud Detection Using Machine Learning Techniques, Nermin Samy Elhusseny, Shimaa Mohamed Ouf, Amira M. Idrees Ami

Future Computing and Informatics Journal

This is a systematic literature review to reflect the previous studies that dealt with credit card fraud detection and highlight the different machine learning techniques to deal with this problem. Credit cards are now widely utilized daily. The globe has just begun to shift toward financial inclusion, with marginalized people being introduced to the financial sector. As a result of the high volume of e-commerce, there has been a significant increase in credit card fraud. One of the most important parts of today's banking sector is fraud detection. Fraud is one of the most serious concerns in terms of monetary …

Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg

Computer Engineering

This project examines the development of a smart boat which could serve as a possible marine research apparatus. The smart boat consists of a miniature vessel containing a low-cost microcontroller to live stream a camera feed, GPS telemetry, and compass data through its own WiFi access point. The smart boat also has the potential for autonomous navigation. My project captivated the interest of several members of California Polytechnic State University, San Luis Obispo’s (Cal Poly SLO) Marine Science Department faculty, who proposed a variety of fascinating and valuable smart boat applications.

Multimodal Adversarial Learning, Uche Osahor

Graduate Theses, Dissertations, and Problem Reports

Deep Convolutional Neural Networks (DCNN) have proven to be an exceptional tool for object recognition, generative modelling, and multi-modal learning in various computer vision applications. However, recent findings have shown that such state-of-the-art models can be easily deceived by inserting slight imperceptible perturbations to key pixels in the input. A good target detection systems can accurately identify targets by localizing their coordinates on the input image of interest. This is ideally achieved by labeling each pixel in an image as a background or a potential target pixel. However, prior research still confirms that such state of the art targets models …

The Factors Influencing The Acceptance Of Web-Based E-Learning System Among Academic Staffs Of Saudi Arabia, Ikhlas Zamzami

Future Computing and Informatics Journal

It is possible to learn more quickly and effectively with e-learning software development because it provides learners with convenient and flexible learning environments. This allows them to progress further in their careers. Reports on web-based e-learning systems for in-service education have frequently neglected to include the viewpoint of the instructor. In order to conduct quantitative research, a sample of 50 academic staff members was selected. The purpose of this study was to investigate various factors that influence the intention to use web-based e-learning, with the theoretical foundation being provided by university lecturers. According to the findings of the study, the …

Human-Machine Communication: Complete Volume. Volume 3. Diffusion Of Human-Machine Communication During And After The Covid-19 Pandemic

Human-Machine Communication

This is the complete volume of HMC Volume 3. Diffusion of Human-Machine Communication During and After the COVID-19 Pandemic

What Will Affect The Diffusion Of Ai Agents?, James W. Dearing

Human-Machine Communication

For billions of people, the threat of the Novel Coronavirus SARS-CoV-2 and its variants has precipitated the adoption of new behaviors. Pandemics are radical events that disrupt the gradual course of societal change, offering the possibility that some rapidly adopted innovations will persist in use past the time period of the event and, thus, diffuse more rapidly than in the absence of such an event. Human-machine communication includes a range of technologies with which many of us have quickly become more familiar due to stay-athome orders, distancing, workplace closures, remote instruction, home-bound entertainment, fear of contracting COVID-19, and boredom. In …

The Role Of Vidura Chatbot In The Diffusion Of Knowcovid-19 Gateway, Kerk F. Kee, Prasad P. Calyam, Hariharan Regunath

Human-Machine Communication

The COVID-19 pandemic is an unprecedented global emergency. Clinicians and medical researchers are suddenly thrown into a situation where they need to keep up with the latest and best evidence for decision-making at work in order to save lives and develop solutions for COVID-19 treatments and preventions. However, a challenge is the overwhelming numbers of online publications with a wide range of quality. We explain a science gateway platform designed to help users to filter the overwhelming amount of literature efficiently (with speed) and effectively (with quality), to find answers to their scientific questions. It is equipped with a chatbot …

Communicative Development And Diffusion Of Humanoid Ai Robots For The Post-Pandemic Health Care System, Do Kyun David Kim, Gary Kreps, Rukhsana Ahmed

Human-Machine Communication

As humanoid robot technology, anthropomorphized by artificial intelligence (AI), has rapidly advanced to introduce more human-resembling automated robots that can communicate, interact, and work like humans, we have begun to expect active interactions with Humanoid AI Robots (HAIRs) in the near future. Coupled with the HAIR technology development, the COVID-19 pandemic triggered our interest in using health care robots with many substantial advantages that overcome critical human vulnerabilities against the strong infectious COVID-19 virus. Recognizing the tremendous potential for the active application of HAIRs, this article explores feasible ways to implement HAIRs in health care and patient services and suggests …

Our Future Arrived: Diffusion Of Human-Machine Communication And Transformation Of The World For The Post-Pandemic Era, Do Kyun David Kim, Gary Kreps, Rukhsana Ahmed

Human-Machine Communication

The world is getting into a new phase in history. For the first time, humans are verbally communicating and developing meaningful relationships with non-living objects. AI is a wormhole to open a gateway to the new world, and the COVID-19 pandemic prepared the world to transform its system to be an open system that responds to, communicates with, and utilizes the remnants coming out of the wormhole of the new world. Now, we urgently need to create a holistic discourse on how we can recognize, develop, or shape the identities of communicable machines as people develop a partnership with them. …

Design And Simulation Of A Supervisory Control System For Hybrid Manufacturing, Michael Buckley

Masters Theses

The research teams of Dr. Bill Hamel, Dr. Bradley Jared and Dr. Tony Schmitz were tasked by the Office of Naval Research to create a hybrid manufacturing process for a reduced scale model of a naval ship propeller. The base structure of the propeller is created using Wire Arc Additive Manufacturing (WAAM), which is then scanned to compare created geometry to desired geometry. The propeller is then machined down to match the desired geometry. This process is iterated upon until the final product meets design tolerances. Due to the complex nature and numerous industrial machines used in the process, it …

Review Of Data Mining Techniques For Detecting Churners In The Telecommunication Industry, Mahmoud Ewieda, Mohamed Ismail Roushdy, Essam Shaaban

Future Computing and Informatics Journal

The telecommunication sector has been developed rapidly and with large amounts of data obtained as a result of increasing in the number of subscribers, modern techniques, data-based applications, and services. As well as better awareness of customer requirements and excellent quality that meets their satisfaction. This satisfaction raises rivalry between firms to maintain the quality of their services and upgrade them. These data can be helpfully extracted for analysis and used for predicting churners. Researchers around the world have conducted important research to understand the uses of Data mining (DM) that can be used to predict customers' churn. This …

Computational Frameworks For Multi-Robot Cooperative 3d Printing And Planning, Laxmi Prasad Poudel

Graduate Theses and Dissertations

This dissertation proposes a novel cooperative 3D printing (C3DP) approach for multi-robot additive manufacturing (AM) and presents scheduling and planning strategies that enable multi-robot cooperation in the manufacturing environment. C3DP is the first step towards achieving the overarching goal of swarm manufacturing (SM). SM is a paradigm for distributed manufacturing that envisions networks of micro-factories, each of which employs thousands of mobile robots that can manufacture different products on demand. SM breaks down the complicated supply chain used to deliver a product from a large production facility from one part of the world to another. Instead, it establishes a network …

Multilayer Perceptron With Auto Encoder Enabled Deep Learning Model For Recommender Systems, Subhashini Narayan

Future Computing and Informatics Journal

In this modern world of ever-increasing one-click purchases, movie bookings, music, health- care, fashion, the need for recommendations have increased the more. Google, Netflix, Spotify, Amazon and other tech giants use recommendations to customize and tailor their search engines to suit the user’s interests. Many of the existing systems are based on older algorithms which although have decent accuracies, require large training and testing datasets and with the emergence of deep learning, the accuracy of algorithms has further improved, and error rates have reduced due to the use of multiple layers. The need for large datasets has declined as well. …

Bibliometric Analysis On Hand Gesture Controlled Robot, Karthik Bankapur, Himmat Singh, Akshit Gupta, Hritik Mathur, Harikrishnan R, Shivali Amit Wagle

Library Philosophy and Practice (e-journal)

This paper discusses about the survey and bibliometric analysis of hand gesture-controlled robot using Scopus database in analyzing the research by area, influential authors, countries, institutions, and funding agencies. The 293 documents are extracted from the year 2016 till 6^th March 2021 from the database. Bibliometric analysis is the statistical analysis of the research published as articles, conference papers, and reviews, which helps in understanding the impact of publication in the research domain globally. The visualization analysis is done with open-source tools namely GPS Visualizer, Gephi, VOS viewer, and ScienceScape. The visualization aids in a quick and clear understanding …

Project Blipper, Peter Jacobs, Preston Delaware, Ryan Foster

Senior Design Project For Engineers

This project was sponsored by Clorox to design and create an automatic bottle-unscrambling system for possible implementation at their bottling plant in Chile. The objective was to use a robotic arm to unscramble bottles from an incoming conveyor belt and place them upright on an outbound conveyor belt. Throughout the research, design, and testing of solutions for this project, several design alternatives were found for each discipline, and will be presented to Clorox so that they can make an informed decision for how and if they want to move forward with implementation of this project.

The project was split into …

Distance-Based Formation Control Using Decentralized Sensing With Infrared Photodiodes, Steven Williams

LSU Master's Theses

This study presents an onboard sensor system for determining the relative positions of mobile robots, which is used in decentralized distance-based formation controllers for multi-agent systems. This sensor system uses infrared photodiodes and LEDs; its effective use requires coordination between the emitting and detecting robots. A technique is introduced for calculating the relative positions based on photodiode readings, and an automated calibration system is designed for future maintenance. By measuring the relative positions of their neighbors, each robot is capable of running an onboard formation controller, which is independent of both a centralized controller and a global positioning-like system (e.g., …

Integration Of Robotic And Electro-Pneumatic Systems Using Advanced Control And Communication Schemes, Chinmay Kondekar

Dissertations, Master's Theses and Master's Reports

Modern industrial automation systems are designed by interconnecting various subsystems which work together to perform a process. The thesis project aims to integrate fragmented subsystems into a flexible and reconfigurable system through advanced communication protocols and perform a process to demonstrate the effectiveness of interconnected systems.

The system consists of three six-axis robots, one electro-pneumatic robot, and two conveyors connected using EthernetIP communication and hardwired connections. The interconnected system works together to perform machining of a workpiece using advanced control methods of CAD to robot path generation, central control through a PLC, and process control through HMI.

Standardized programming blocks …

Lawn Buddy, Jayson Johnston, Andrew Brown, Jacob Maljian

Electrical Engineering

Grass lawns are a common hallmark of the American home. In 2019, a survey from the National Association of Landscape Professionals found that 81% of all Americans owned a lawn [1]. Mowing is a time consuming and costly chore that is part of maintaining a grass lawn. The manual labor in mowing a lawn can exceed 40 hours per year [2]. People commonly incur weekly costs on mowing services to save time. Traditional gas powered mowers are physically demanding and use engines that need routine maintenance. They operate loudly enough that users should be wearing hearing protection and the noise …

Involuntary Signal-Based Grounding Of Civilian Unmanned Aerial Systems (Uas) In Civilian Airspace, Keith Conley

Master's Theses

This thesis investigates the involuntary signal-based grounding of civilian unmanned aerial systems (UAS) in unauthorized air spaces. The technique proposed here will forcibly land unauthorized UAS in a given area in such a way that the UAS will not be harmed, and the pilot cannot stop the landing. The technique will not involuntarily ground authorized drones which will be determined prior to the landing. Unauthorized airspaces include military bases, university campuses, areas affected by a natural disaster, and stadiums for public events. This thesis proposes an early prototype of a hardware-based signal based involuntary grounding technique to handle the problem …

Weight Controlled Electric Skateboard, Zachary Barram, Carson Bertozzi, Vishnu Dodballapur

Computer Engineering

Technology and the way that humans interact is becoming more vital and omnipresent with every passing day. However, human interface device designers suffer from the increasingly popular “designed for me or people like me” syndrome. This design philosophy inherently limits accessibility and usability of technology to those like the designer. This places severe limits of usability to those who are not fully able as well as leaves non-traditional human interface devices unexplored. This project set out to explore a previously uncharted human interface device, on an electric skateboard, and compare it send user experience with industry leading human interface devices.